Sensorless Human-Robot Collaborative Assembly Considering Load and Friction Compensation

2021 ◽  
Vol 6 (3) ◽  
pp. 5945-5952
Author(s):  
Juliang Xiao ◽  
Saixiong Dou ◽  
Wei Zhao ◽  
Haitao Liu
Keyword(s):  
Friction Compensation ◽  
Collaborative Assembly

scholarly journals Digital Twin for Designing and Reconfiguring Human–Robot Collaborative Assembly Lines

2021 ◽  
Vol 11 (10) ◽  
pp. 4620
Author(s):  
Niki Kousi ◽  
Christos Gkournelos ◽  
Sotiris Aivaliotis ◽  
Konstantinos Lotsaris ◽  
Angelos Christos Bavelos ◽  
...  
Keyword(s):  
Production System ◽  
Assembly Lines ◽  
Flexible Assembly ◽  
Digital Twin ◽  
Collaborative Assembly ◽  
Geometrical Information ◽  
Line Level ◽  
Dual Arm ◽  
Different Levels

This paper discusses a digital twin-based approach for designing and redesigning flexible assembly systems. The digital twin allows modeling the parameters of the production system at different levels including assembly process, production station, and line level. The approach allows dynamically updating the digital twin in runtime, synthesizing data from multiple 2D–3D sensors in order to have up-to-date information about the actual production process. The model integrates both geometrical information and semantics. The model is used in combination with an artificial intelligence logic in order to derive alternative configurations of the production system. The overall approach is discussed with the help of a case study coming from the automotive industry. The case study introduces a production system integrating humans and autonomous mobile dual arm workers.

STATE-PERIODIC ADAPTIVE FRICTION COMPENSATION

2005 ◽  
Vol 38 (1) ◽  
pp. 7-12
Author(s):  
Hyo-Sung Ahn ◽  
YangQuan Chen
Keyword(s):  
Friction Compensation

scholarly journals Sightline Jitter Minimization and Shaping Using Nonlinear Friction Compensation

2007 ◽  
Vol 1 (3) ◽  
pp. 259-283 ◽  
Author(s):  
David Anderson ◽  
Matt MacDonald ◽  
Paul Ingleby ◽  
Nick Brignall
Keyword(s):  
Friction Compensation ◽  
Nonlinear Friction
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